CN109693663A - Vehicle stability controlled system based on pro-active intervention steering system - Google Patents
Vehicle stability controlled system based on pro-active intervention steering system Download PDFInfo
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- CN109693663A CN109693663A CN201710998912.6A CN201710998912A CN109693663A CN 109693663 A CN109693663 A CN 109693663A CN 201710998912 A CN201710998912 A CN 201710998912A CN 109693663 A CN109693663 A CN 109693663A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/02—Control of vehicle driving stability
- B60W30/025—Control of vehicle driving stability related to comfort of drivers or passengers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/02—Control of vehicle driving stability
- B60W30/045—Improving turning performance
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/12—Lateral speed
- B60W2520/125—Lateral acceleration
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/28—Wheel speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2540/00—Input parameters relating to occupants
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2540/00—Input parameters relating to occupants
- B60W2540/18—Steering angle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/18—Braking system
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/20—Steering systems
- B60W2710/202—Steering torque
Abstract
The present invention relates to the vehicle stability controlled systems based on pro-active intervention steering system, it is characterized in that, at least have: electronic power assist steering module, for receiving the torque request instruction from EBCM Electronic Brake Control Module, and the signal instruction that output torque intervenes the position of deflecting roller and steering wheel；And EBCM Electronic Brake Control Module, hydraulic coupling for being applied according to driver by brake pedal, the wheel working condition inputted by wheel speed sensors, and the vehicle actual acceleration and yaw rate signal inputted by vehicle body inertia sensor judges the driving status of vehicle, and the steering wheel angle needed according to the state of a control that the braking calculation of backpressure that driver applies obtains current vehicle with the stabilization sexual deviation of ideal state of a control and the stable sexual deviation of compensation, and accomplished target diversion wheel corner auxiliary torque value to be provided and it is sent to the electronic power assist steering module.
Description
Technical field
The present invention relates to vehicle control technologies, pass through adjusting braking pressure control stability more particularly in tradition
On the basis of increase the steering system moment of torsion control of active and change the angle of deflecting roller to generating additional yaw moment with strong
Change the vehicle stability controlled system of stability control effect.
Background technique
Current existing road vehicle stabilitrak relates generally to following two categories:
1. braking anti-lock (ABS), this kind of system acquisition wheel speed signal includes wheel speed, wheel come the running state of wheels for estimating vehicle
Accelerate (deceleration) and slip rate etc..ABS system modulates the pressure of each wheel cylinder by on-off solenoid valve to reach and prevent from embracing
Dead and control vehicle body stability purpose.It is wherein the braking of separation road surface, the road as locating for the wheel of two sides than more typical operating condition
The attachment coefficient difference in face is larger, and the difference power that when braking generates, which can generate strong sideway effect, leads to vehicle unstability.For
This operating condition, high attached side wheel can carry out a big pressure release when detecting initial sideway trend, to reduce sideway trend,
Driver is helped to control vehicle；Then the opening and closing for slow transitting through solenoid valve accurately controls pressure rising gradient, gradually to obtain again
Obtain deceleration.In order to guarantee that deceleration, the brake force of high attached side still can be significantly hotter than low attached side, yaw moment caused still to be deposited
?.Need driver by correcting steering wheel to low attached side to eliminate this sideway trend at this time.
2. electronic stability controls (ESC) system, this kind of system generally passes through acquisition wheel speed signal and body gesture signal
(yaw rate signal, lateral acceleration signal) obtains the actual motion state of vehicle, and obtains with by steering wheel angle
Driver intention compare, obtain the deviation of virtual condition and intention and calculate eliminate deviation required for intervention amount,
And it is produced by the active Torque Control on wheel side or slip-based controller (the corresponding side force of tire of specific slip rate and longitudinal force)
Life rectifies a deviation to the lateral deviation torque of vehicle centroid.
The above stabilitrak, be all directly have by the brake-force control to wheel to intact stability into
Ability row control or intervened, but due to the mechanical characteristic limitation in tire phase plane, the intervention range being able to achieve still has
Limit.In addition rear-wheel assumes responsibility for the lateral support effect of rear axle, and lateral force increases with slip rate and reduces and determine that rear-wheel can be done
Not so pre- limitation be easy to cause rear axle unstability.And as the operating condition that separation road surface is braked, it is high due to deceleration to be guaranteed
The brake force of attached side is necessarily higher than low attached side, therefore the effect of sideway cannot be completely eliminated.It is various above to be regarded as passing through
Wheel braking force, which is adjusted, carrys out keeping in check for control stability.
Therefore need to introduce limitation of the additional method of one kind to overcome brake-force control.
Summary of the invention
In view of described problem, the present invention is intended to provide a kind of pro-active intervention steering system for capableing of strengthening stability control action
The stabilitrak that torque channeling direction disk of uniting operates.
Vehicle stability controlled system of the invention is on the basis of tradition is by adjusting braking pressure control stability, volume
The corner control to deflecting roller is increased outside, it is by controlling steering system active torque the angle for changing deflecting roller to produce
Raw additional yaw moment is with strengthening stability control action.Meanwhile this intervention can generate guiding function to steering wheel simultaneously,
Driver is helped to control steering wheel in target position.
Vehicle stability controlled system based on pro-active intervention steering system of the invention, which is characterized in that have:
Vehicle body inertia sensor, for measuring the practical side acceleration of vehicle and yaw velocity and being supplied to following electronics
Brake control module；
Steering wheel, for being intended to the intervention of driver's transmission system and receiving the signal from following electronic power assist steering modules
Instruction；
Electronic power assist steering module, for receiving the torque request instruction from following EBCM Electronic Brake Control Modules, and by rule
The signal instruction that devise a stratagem is calculated and output torque intervenes the position of deflecting roller and steering wheel；And
EBCM Electronic Brake Control Module, it is hydraulic coupling for being applied according to driver by brake pedal, defeated by wheel speed sensors
The wheel working condition entered and the vehicle actual acceleration and yaw rate signal inputted by vehicle body inertia sensor are sentenced
The driving status of disconnected vehicle, and the state of a control and ideal of current vehicle are obtained according to the braking calculation of backpressure that driver applies
The stabilization sexual deviation of state of a control and the steering wheel angle for compensating stable sexual deviation needs, and accomplished target diversion rotates
Angle auxiliary torque value to be provided is simultaneously sent to the electronic power assist steering module.
Preferably, the electronic power assist steering module has:
Electronic control unit, for receiving the torque request instruction from the EBCM Electronic Brake Control Module, and by being calculated with itself
Torque out is by comparing and arbitrating and then output torque intervenes the position of deflecting roller and steering wheel；
Steering wheel sensor, Xiang Suoshu EBCM Electronic Brake Control Module outbound course disk angular signal；And
Motor power-assisted unit controls the angle of deflecting roller by transmission system and provides force feedback to steering wheel.
Preferably, the EBCM Electronic Brake Control Module has:
Pressure sensor, the hydraulic coupling applied for detecting driver by brake pedal；
Electronic control unit, the wheel speed signal for being inputted by the wheel speed sensors obtains the working condition of wheel, and passes through
The vehicle actual acceleration and yaw rate signal of vehicle body inertia sensor input judge the driving status of vehicle, and pass through
The state of a control and ideal state of a control of current vehicle is calculated in the braking back pressure that the driver that pressure sensor obtains applies
Stabilization sexual deviation, and compensate and stablize the steering wheel angle that sexual deviation needs, and accomplished target diversion wheel corner is wanted
The auxiliary torque value of offer, and it is sent to electronic power assist steering system；And
Motor and linear solenoid valve drive the opening and closing of the solenoid valve of hydraulic pump and corresponding hydraulic circuit by motor operation bias
To realize the accurate adjusting of vehicle braking wheel cylinder hydraulic pressure pressure, and correction torque effect and steering moment master are generated to vehicle centroid
The dynamic stability for intervening Collaborative Control vehicle
Preferably, the EBCM Electronic Brake Control Module passes through pro-active intervention steering system torque in the case where judging vehicle instability status
Deflecting roller is set to reach target position, to realize stability control；
Intervene while, the intervention of steering moment passes to driver by steering wheel, so that it is experienced guiding function, when away from
When big from target position deviation, steering moment intervention increases, the guiding function enhancing of target location.When distance objective position
When deviation reduces, steering moment intervention reduces, and guiding function weakens；
When intervening, when the hand-power direction of driver and system steering torque intervention direction in the same direction towards target position, it is
System provides power-assisted channeling direction disk and turns to target position, when driver's hand-power direction and reversed steering system torque intervention direction
Deviate from target position, system provides damping and reversed power-assisted；
When driver it is de- when, system is controlled deflecting roller and steering wheel to target position by Torque Control
Preferably, the EBCM Electronic Brake Control Module receives the wheel speed signal of the wheel speed sensors, for judging wheel speed, reference
Speed, the slip rate for taking turns acceleration and deceleration and single-wheel,
The EBCM Electronic Brake Control Module receives the lateral acceleration signal and yaw velocity letter of the vehicle body inertia sensor
Number, for judging the motion state of vehicle,
The EBCM Electronic Brake Control Module receives the steering wheel angle signal from involved electronic power assist steering system, or comes
From in independent steering wheel angle sensor signal, for calculating current steering wheel position and calculating steering by turning rate
Wheel works as front hook,
The EBCM Electronic Brake Control Module receives the steering wheel angle signal from the electronic power assist steering system, or comes from
In independent steering wheel angle sensor signal, for calculating the desired yaw rate of driver,
The EBCM Electronic Brake Control Module receives wheel speed signal and lateral acceleration signal, for calculating the longitudinal acceleration of vehicle
And side acceleration, and calculate the instantaneous dynamic load of four wheels:
Preferably, the lateral force and longitudinal force of EBCM Electronic Brake Control Module storage " under different deflecting roller side drift angles " tire
Arteries and veins spectrogram, and combine calculate wheel dynamic load and when the side drift angle of steering front wheel obtain when steering front wheel longitudinal force,
Lateral force and resultant force, and the yaw moment that resultant force generates vehicle centroid；
The driver that the EBCM Electronic Brake Control Module is obtained according to the practical yaw velocity of vehicle and by steering wheel angle
Desired yaw velocity relatively obtains deviation yaw velocity, and calculates torque of rectifying a deviation required for eliminating yaw velocity,
And by searching for " under the different deflecting roller side drift angles " lateral force of tire and the arteries and veins spectrogram of longitudinal force, and combine the wheel calculated in real time
Tire transient behavior load obtains target diversion wheel corner required for generating correction torque；
Preferably, the EBCM Electronic Brake Control Module calculates the difference of target diversion wheel corner and current steering wheel angle, and counts
The steering moment required for the difference of corner that is eliminated is calculated,
Steering moment request is issued the electronic power assist steering module and realizes steering intervention by the EBCM Electronic Brake Control Module,
The EBCM Electronic Brake Control Module in stability control only for the operating condition of oversteering, this allows for insufficient turn
To under operating condition, the angle for increasing deflecting roller not will increase the lateral deviation power of wheel to generate additional lateral deviation torque.
Preferably, the EBCM Electronic Brake Control Module provides the output valve of moment of torsion control in the range of a safety to keep away
Exempt from the excessively high generation risk of output valve,
Preferably, the electronic power assist steering module receives the moment of torsion control request that the EBCM Electronic Brake Control Module provides, and
Moment of torsion control calculating with itself is compared, arbitrates and combines, and exports a final torque value.
Preferably, the EBCM Electronic Brake Control Module carries out dynamic to yaw rate deviation by a PID controller
It eliminates, to avoid the fluctuation generated when eliminating Vehicular yaw.
As described above, the invention discloses a kind of stability controls of pro-active intervention steering system torque channeling direction disk operation
System processed, the system have 1 EBCM Electronic Brake Control Module (EBCM), adjust for the wheel cylinder brake pressure to four wheels
Section is to guarantee intact stability, and the request and target value as main control unit calculating and sending steering torque intervention are to electronics
Steering system is intervened；1 electrical steering force aid system (EPS) is asked for receiving the torque from EBCM Electronic Brake Control Module
Ask instruction, and by with itself calculated torque compared with and arbitrate, then output torque is to deflecting roller and steering wheel
Intervened position；4 wheel speed sensors accelerate (deceleration) and for deceleration of electrons control for detecting the wheel speed of four-wheel, taking turns
The slip rate of module calculates；1 vehicle body inertia sensor, for the reality to EBCM Electronic Brake Control Module (EBCM) output vehicle
Side acceleration and yaw velocity make it judge the stable state of vehicle and unstable state.The system can vehicle generate unstability when,
The torque of active control steering wheel is to guide driver to carry out correctly turning to input, when the mesh of steering wheel physical location and guidance
When cursor position is close, guiding function reduce (driver is not felt by torque intervention), when and target position deviation increase when, guidance
Effect enhancing (driver experiences torque increase).
As described above, the vehicle stability controlled system according to the present invention based on pro-active intervention steering system, can obtain
Obtain following technical effect:
By the active steering torque intervention to electronic power assist steering subsystem in system, deflecting roller is made to generate an additional turn
Angle, and resulting slip angle of tire will change the lateral force in former phase plane and longitudinal force and its resultant force, to generate one
A new moment loading；
By the intervention to steering moment, the intervention of steering moment passes to driver by steering wheel, it is made to experience guidance
Effect, when distance objective position deviation is big, steering moment intervention increases, the guiding function enhancing of target location.When away from
When reducing from target position deviation, steering moment intervention reduces, and guiding function weakens.When driver it is de- when (no hand-power), be
System is controlled deflecting roller and steering wheel to target position by Torque Control；
The intervention request of steering moment is always lower than the limit value of a safety, to ensure the functional safety requirement of system, will not produce
A raw unexpected steering behavior or vehicle failure behavior；
The sideway angular displacement that system is dynamically eliminated by a PID controller can be eliminated surely by the effect of integral constant
State error avoids yaw angle persistent disturbances caused by control overshoot that driver is made to generate unstability sense.
Detailed description of the invention
Fig. 1 is the vehicle of the stabilitrak of pro-active intervention steering system torque channeling direction disk operation of the invention
Architecture diagram.
Fig. 2 is the stabilitrak " separation of pro-active intervention steering system torque channeling direction disk operation of the invention
The working principle diagram of road surface braking ".
Fig. 3 is that the stabilitrak of pro-active intervention steering system torque channeling direction disk operation of the invention is " excessive
The working principle diagram of course changing control ".
Appended drawing reference
1: electronic power assist steering module；
2: vehicle body inertia sensor；
3: steering wheel；
4: wheel cylinder；
5: EBCM Electronic Brake Control Module；
6: wheel speed sensors.
Specific embodiment
What is be described below is some in multiple embodiments of the invention, it is desirable to provide to basic understanding of the invention.And
It is not intended to and confirms crucial or conclusive element of the invention or limit scope of the claimed.
Fig. 1 is the vehicle of the stabilitrak of pro-active intervention steering system torque channeling direction disk operation of the invention
Architecture diagram.
Referring to Fig. 1, to the intact stability of pro-active intervention steering system torque channeling direction disk operation of the invention
Control system is illustrated.
Vehicle stability controlled system of the invention specifically includes that electronic power assist steering control module (EPS) 1, vehicle body are used
Quantity sensor 2, steering wheel 3, wheel cylinder 4, EBCM Electronic Brake Control Module (EBCM) 5 and wheel speed sensors 6.
The electronic power assist steering control module (EPS) 1: including electronic control unit 11, steering wheel angle sensor 12 and electricity
Machine aided power unit 13.Electrical steering control module 1 passes through bus to 5 sending direction disk corner of EBCM Electronic Brake Control Module (EBCM)
Position, and the torque request from EBCM Electronic Brake Control Module (EBCM) 5 is received by bus and is instructed, and by being counted with itself
The torque process of calculating compares and arbitrates, then output torque intervenes the position of deflecting roller, while feedback moment is to just
The guiding function of hand-power is played on disk.
Vehicle body inertia sensor 2 is used to measure the side acceleration of vehicle and yaw rate signal and is sent to vehicle
In CAN bus.
It (is only citing, the present patent application is not limited to 4 that wheel speed sensors 6, which indicate share 4 in fig. 1,
It is a), for monitoring the speed, acceleration (deceleration) and sliding situation of each wheel, and controlled by harness and deceleration of electrons
The connection of 5 module of module (EBCM).
EBCM Electronic Brake Control Module (EBCM) 5 specifically includes that motor and pump (51 are expressed as in Fig. 1), magnetic solenoid valve
52, pressure sensor 53 and electronic control unit 54.
Wherein, pressure sensor 53 is for detecting the hydraulic coupling that driver is applied by brake pedal.Electronic control unit (ECU)
52 wheel speed signal for being inputted by wheel speed sensors 4 obtains the working condition of four wheels and is sensed by vehicle body inertia
Vehicle actual acceleration and yaw rate signal that device 2 inputs judge the driving status of vehicle, and current vehicle is calculated
The stabilization sexual deviation of state of a control and ideal state of a control, and compensate torque of rectifying a deviation required for stablizing sexual deviation.
Wherein, EBCM Electronic Brake Control Module (EBCM) 5 calculates and distributes correction torque to braking pressure control and steering force
Square control.Wherein braking moment is limited by when the mechanics of tire limit under front hook, slip rate thresholding limits and other limits
System.
The steering wheel angle signal that EBCM Electronic Brake Control Module (EBCM) 5 is issued by electronic power assist steering system, passes through
What turning rate calculated deflecting roller works as front hook.
By wheel speed signal and lateral acceleration signal, the longitudinal direction for calculating vehicle adds EBCM Electronic Brake Control Module (EBCM) 5
Speed and side acceleration, and calculate the instantaneous dynamic load of four wheels；EBCM Electronic Brake Control Module stores " different deflecting rollers
Under side drift angle " lateral force of tire and the arteries and veins spectrogram of longitudinal force, and combine the dynamic load of the wheel calculated and work as steering front wheel
Side drift angle obtain longitudinal force, lateral force and resultant force when steering front wheel, and the resultant moment to vehicle centroid.
EBCM Electronic Brake Control Module (EBCM) 5 calculates the intervention amount that distribution to torque controls by the following method.It is logical
It crosses method as described above and calculates the instantaneous dynamic load of four wheels, and search EBCM Electronic Brake Control Module storage " difference turn
To under wheel side drift angle " lateral force of tire and the arteries and veins spectrogram of longitudinal force, obtain the mesh that the yaw moment of vehicle centroid generation needs
Mark steering wheel angle.Target diversion wheel corner is to vehicle centroid resultant moment and current steering wheel angle to vehicle centroid resultant moment
Difference is additional correction moment values.
EBCM Electronic Brake Control Module (EBCM) 5, which calculates, realizes the steering torque intervention to be provided of target diversion wheel corner
Value, and it is sent to electronic power assist steering system, it realizes and intervenes.
For EBCM Electronic Brake Control Module (EBCM) 5 when judging that vehicle attitude and driver are expected close, what is be calculated is dry
Pre- amount reduces, and torque guiding function weakens.When consistent with expection, intervention amount is very little or zero.
EBCM Electronic Brake Control Module (EBCM) 5 passes through when driver's hand-power direction is consistent with system torque intervention direction
With the deviation adjusting intervention amount of target wheel steering angle or steering wheel angle position, biggish torque is provided when from target position farther out
Intervene and steering wheel drawn into target location, close in target location processes torque intervention gradually reduce.
EBCM Electronic Brake Control Module (EBCM) 5 when driver's hand-power direction is opposite with system torque, by with target carriage
The deviation adjusting intervention amount for taking turns corner or steering wheel angle position, can experience the damping of system being moved slightly away from target position
Effect, and increase opposite force as deviation increases, guide driver by steering wheel return to correct position.
The output valve that EBCM Electronic Brake Control Module (EBCM) 5 provides moment of torsion control can avoid in the range of a safety
The excessively high generation risk of output valve.
EBCM Electronic Brake Control Module (EBCM) 5 can carry out dynamic elimination to yaw rate deviation by PID controller, with
Avoid the fluctuation generated when eliminating Vehicular yaw.
In the following, by taking Fig. 2 as an example, the course of work of EBCM Electronic Brake Control Module (EBCM) 5 when illustrating to separate road surface braking.
Fig. 2 is the stabilitrak " separation of pro-active intervention steering system torque channeling direction disk operation of the invention
The working principle diagram of road surface braking ".
As shown in Fig. 2, ABS system can be detected by wheel speed signal and yaw rate signal when separating road surface braking
Slow down and slip rate difference to the big biggish wheel of sideway trend and left and right sides wheel, judges that system enters separation road surface work
Condition.Attached side wheel high at this time carries out pressure release first to reduce sideway trend, gradually rises brake pressure then to obtain deceleration.
Since high attached side brake force is still higher than low attached side, sideway effect is still had, and sideway trend at this time still can pass through cross
Pivot angle speed signal and wheel speed signal obtain.EBCM Electronic Brake Control Module (EBCM) 5 receives electronics power-assisted by bus at this time and turns
The steering wheel angle signal issued to system (EPS) 1, and the corner of deflecting roller is calculated.Pass through four wheels of connection simultaneously
Fast sensor 6 obtains the slip rate of each wheel.Then, " steering wheel angle " corresponding slip rate and wheel of storage inside are searched
Tire lateral force and longitudinal force and resultant force are to the torque arteries and veins spectrogram of mass center, and the tire wink being calculated by acceleration transducer
When vertical load, obtain the resultant moment of current deflecting roller.Then, the cross for needing to eliminate is determined by the sideway trend measured
Pivot angle speed, and torque of rectifying a deviation required for eliminating the angular speed is calculated by vehicle dynamic model, and " turn by searching again
To wheel side drift angle " corresponding slip rate and side force of tire and longitudinal force and resultant force to the torque arteries and veins spectrogram of mass center, met
Target diversion wheel corner required for torque of rectifying a deviation.It is obtained by the comparison to target diversion wheel corner and current steering wheel angle
It needs steering moment value required for reaching target rotation angle and is sent to electronic power assist steering after the processing of functional safety mechanism
System (EPS) 1 is controlled.In entire braking process, control of the meeting to carry out PID as target with yaw velocity difference,
To eliminate the disturbance of yaw angle.
Fig. 3 is that the stabilitrak of pro-active intervention steering system torque channeling direction disk operation of the invention is " excessive
The working principle diagram of course changing control ".
Similarly, in the oversteering control of Fig. 3, when vehicle generates oversteering, EBCM Electronic Brake Control Module (EBCM) 5
Included electronic stability program can calculate vehicle oversteering trend and with the desired difference of driver, and the difference that is eliminated
The correction torque of value.Then front vehicle wheel is worked as in the wheel dynamic load calculating being calculated according to side acceleration and wheel speed signal
Adhesive ability.Then " deflecting roller side drift angle " corresponding slip rate is searched by the side drift angle of current wheel slip and four-wheel
With side force of tire and longitudinal force and resultant force to the torque arteries and veins spectrogram of mass center, the mesh of four-wheel control is obtained in conjunction with tire dynamic load
Mark slip rate value.Normally due to previously described various limitations, wheel side controls generated correction torque and completely eliminates excessively
The correction torque of steering trend has gap, and gap portion can be eliminated by invention described herein.Due to electronic stability
Property wheel side intervene often with big braking moment and noise, comfort is poor, can be corresponding by the intervention of steering moment
The distribution for reducing braking moment intervention, obtains better comfort while guaranteeing stability.
As described above, the vehicle stability controlled system according to the present invention based on pro-active intervention steering system, can obtain
Obtain following technical effect:
By the active steering torque intervention to electronic power assist steering subsystem in system, deflecting roller is made to generate an additional turn
Angle, and resulting slip angle of tire will change the lateral force in former phase plane and longitudinal force and its resultant force, to generate one
A new moment loading；
By the intervention to steering moment, the intervention of steering moment passes to driver by steering wheel, it is made to experience guidance
Effect, when distance objective position deviation is big, steering moment intervention increases, the guiding function enhancing of target location.When away from
When reducing from target position deviation, steering moment intervention reduces, and guiding function weakens.When driver it is de- when (no hand-power), be
System is controlled deflecting roller and steering wheel to target position by Torque Control；
The intervention request of steering moment is always lower than the limit value of a safety, to ensure the functional safety requirement of system, will not produce
A raw unexpected steering behavior or vehicle failure behavior；
The sideway angular displacement that system is dynamically eliminated by a PID controller can be eliminated surely by the effect of integral constant
State error avoids yaw angle persistent disturbances caused by control overshoot that driver is made to generate unstability sense.
Example above primarily illustrates the vehicle stability controlled system of the invention based on pro-active intervention steering system.To the greatest extent
Pipe only some of a specific embodiment of the invention are described, but those of ordinary skill in the art it is to be appreciated that
The present invention can implemented without departing from its spirit in range in many other form.Therefore, the example shown and implementation
Mode is considered as illustrative and not restrictive, is not departing from spirit of that invention and model as defined in appended claims
In the case where enclosing, the present invention may cover various modification and replacement.
Claims (10)
1. a kind of vehicle stability controlled system based on pro-active intervention steering system, which is characterized in that have:
Vehicle body inertia sensor, for measuring the practical side acceleration of vehicle and yaw velocity and being supplied to following electronics
Brake control module；
Steering wheel, for being intended to the intervention of driver's transmission system and receiving the signal from following electronic power assist steering modules
Instruction；
Electronic power assist steering module, for receiving the torque request instruction from following EBCM Electronic Brake Control Modules, and by rule
The signal instruction that devise a stratagem is calculated and output torque intervenes the position of deflecting roller and steering wheel；And
EBCM Electronic Brake Control Module, it is hydraulic coupling for being applied according to driver by brake pedal, defeated by wheel speed sensors
The wheel working condition entered and the vehicle actual acceleration and yaw rate signal inputted by vehicle body inertia sensor are sentenced
The driving status of disconnected vehicle, and the state of a control and ideal of current vehicle are obtained according to the braking calculation of backpressure that driver applies
The stabilization sexual deviation of state of a control and the steering wheel angle for compensating stable sexual deviation needs, and accomplished target diversion rotates
Angle auxiliary torque value to be provided is simultaneously sent to the electronic power assist steering module.
2. the vehicle stability controlled system as described in claim 1 based on pro-active intervention steering system, which is characterized in that institute
Electronic power assist steering module is stated to have:
Electronic control unit, for receiving the torque request instruction from the EBCM Electronic Brake Control Module, and by being calculated with itself
Torque out is by comparing and arbitrating and then output torque intervenes the position of deflecting roller and steering wheel；
Steering wheel sensor, Xiang Suoshu EBCM Electronic Brake Control Module outbound course disk angular signal；And
Motor power-assisted unit controls the angle of deflecting roller by transmission system and provides force feedback to steering wheel.
3. the vehicle stability controlled system as claimed in claim 2 based on pro-active intervention steering system, which is characterized in that
The EBCM Electronic Brake Control Module has:
Pressure sensor, the hydraulic coupling applied for detecting driver by brake pedal；
Electronic control unit, the wheel speed signal for being inputted by the wheel speed sensors obtains the working condition of wheel, and passes through
The vehicle actual acceleration and yaw rate signal of vehicle body inertia sensor input judge the driving status of vehicle, and pass through
The state of a control and ideal state of a control of current vehicle is calculated in the braking back pressure that the driver that pressure sensor obtains applies
Stabilization sexual deviation, and compensate and stablize the steering wheel angle that sexual deviation needs, and accomplished target diversion wheel corner is wanted
The auxiliary torque value of offer, and it is sent to electronic power assist steering system；And
Motor and linear solenoid valve drive the opening and closing of the solenoid valve of hydraulic pump and corresponding hydraulic circuit by motor operation bias
To realize the accurate adjusting of vehicle braking wheel cylinder hydraulic pressure pressure, and correction torque effect and steering moment master are generated to vehicle centroid
The dynamic stability for intervening Collaborative Control vehicle.
4. the vehicle stability controlled system based on pro-active intervention steering system as described in claim 1 ~ 3 any one,
It is characterized in that,
The EBCM Electronic Brake Control Module makes deflecting roller in the case where judging vehicle instability status, through pro-active intervention steering system torque
Reach target position, to realize stability control；
Intervene while, the intervention of steering moment passes to driver by steering wheel, so that it is experienced guiding function, when away from
When big from target position deviation, steering moment intervention increases, the guiding function enhancing of target location；
When distance objective position deviation reduces, steering moment intervention reduces, and guiding function weakens；
When intervening, when the hand-power direction of driver and system steering torque intervention direction in the same direction towards target position, it is
System provides power-assisted channeling direction disk and turns to target position, when driver's hand-power direction and reversed steering system torque intervention direction
Deviate from target position, system provides damping and reversed power-assisted；
When driver it is de- when, system is controlled deflecting roller and steering wheel to target position by Torque Control.
5. the vehicle stability controlled system based on pro-active intervention steering system as described in claim 1 ~ 3 any one,
It is characterized in that,
The EBCM Electronic Brake Control Module receives the wheel speed signal of the wheel speed sensors, for judging wheel speed, reference speed, wheel
The slip rate of acceleration and deceleration and single-wheel,
The EBCM Electronic Brake Control Module receives the lateral acceleration signal and yaw velocity letter of the vehicle body inertia sensor
Number, for judging the motion state of vehicle,
The EBCM Electronic Brake Control Module receives the steering wheel angle signal from involved electronic power assist steering system, or comes
From in independent steering wheel angle sensor signal, for calculating current steering wheel position and calculating steering by turning rate
Wheel works as front hook,
The EBCM Electronic Brake Control Module receives the steering wheel angle signal from the electronic power assist steering system, or comes from
In independent steering wheel angle sensor signal, for calculating the desired yaw rate of driver,
The EBCM Electronic Brake Control Module receives wheel speed signal and lateral acceleration signal, for calculating the longitudinal acceleration of vehicle
And side acceleration, and calculate the instantaneous dynamic load of four wheels.
6. the vehicle stability controlled system based on pro-active intervention steering system as described in claim 1 ~ 3 any one,
It is characterized in that,
EBCM Electronic Brake Control Module storage " under the different deflecting roller side drift angles " lateral force of tire and the arteries and veins spectrogram of longitudinal force,
And combine the wheel calculated dynamic load and when the side drift angle of steering front wheel obtain when the longitudinal force of steering front wheel, lateral force with
And resultant force, and the yaw moment that resultant force generates vehicle centroid；
The driver that the EBCM Electronic Brake Control Module is obtained according to the practical yaw velocity of vehicle and by steering wheel angle
Desired yaw velocity relatively obtains deviation yaw velocity, and calculates torque of rectifying a deviation required for eliminating yaw velocity,
And by searching for " under the different deflecting roller side drift angles " lateral force of tire and the arteries and veins spectrogram of longitudinal force, and combine the wheel calculated in real time
Tire transient behavior load obtains target diversion wheel corner required for generating correction torque.
7. the vehicle stability controlled system based on pro-active intervention steering system as described in claim 1 ~ 3 any one,
It is characterized in that,
The EBCM Electronic Brake Control Module calculates the difference of target diversion wheel corner and current steering wheel angle, and is calculated and disappears
Steering moment required for difference except corner,
Steering moment request is issued the electronic power assist steering module and realizes steering intervention by the EBCM Electronic Brake Control Module,
The EBCM Electronic Brake Control Module in stability control only for the operating condition of oversteering, this allows for insufficient turn
To under operating condition, the angle for increasing deflecting roller not will increase the lateral deviation power of wheel to generate additional lateral deviation torque.
8. the vehicle stability controlled system based on pro-active intervention steering system as described in claim 1 ~ 3 any one,
It is characterized in that,
The EBCM Electronic Brake Control Module provides the output valve of moment of torsion control in the range of a safety to avoid output valve mistake
Height generates risk.
9. the vehicle stability controlled system based on pro-active intervention steering system as described in claim 1 ~ 3 any one,
It is characterized in that,
The electronic power assist steering module receives the moment of torsion control request that the EBCM Electronic Brake Control Module provides, and with itself
Moment of torsion control calculating is compared, arbitrates and combines, and exports a final torque value.
10. being operated as described in claim 1 ~ 3 any one by pro-active intervention steering system torque channeling direction disk is steady
Qualitative control system, which is characterized in that
The EBCM Electronic Brake Control Module carries out dynamic elimination to yaw rate deviation by a PID controller, to avoid
The fluctuation generated when eliminating Vehicular yaw.
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